Spline-Based Optimal Trajectory Generation for Autonomous Excavator

Spline-Based Optimal Trajectory Generation for Autonomous Excavator

Blog Article

Dice In this paper, we propose a novel trajectory generation method for autonomous excavator teach-and-plan applications.Rather than controlling the excavator to precisely follow the teaching path, the proposed method transforms the arbitrary slow and jerky trajectory of human excavation into a topologically equivalent path that is guaranteed to be fast, smooth and dynamically feasible.This method optimizes trajectories in both time and jerk aspects.A spline is used to connect these waypoints, which are topologically equivalent to the human teaching path.Then the trajectory is reparametrized to obtain the minimum time-jerk trajectory with the kinodynamic constraints.

The ROOIBOS optimal time-jerk trajectory generation method is both formulated using nonlinear programming and conducted iteratively.The framework proposed in this paper was integrated into a complete autonomous excavation platform and was validated to achieve aggressive excavation in a field environment.